CN111278235B - Automatic chip mounter and automatic chip mounting method - Google Patents
Automatic chip mounter and automatic chip mounting method Download PDFInfo
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- CN111278235B CN111278235B CN202010218451.8A CN202010218451A CN111278235B CN 111278235 B CN111278235 B CN 111278235B CN 202010218451 A CN202010218451 A CN 202010218451A CN 111278235 B CN111278235 B CN 111278235B
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K3/00—Apparatus or processes for manufacturing printed circuits
- H05K3/30—Assembling printed circuits with electric components, e.g. with resistor
- H05K3/32—Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits
- H05K3/34—Assembling printed circuits with electric components, e.g. with resistor electrically connecting electric components or wires to printed circuits by soldering
- H05K3/341—Surface mounted components
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/0015—Orientation; Alignment; Positioning
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/08—Monitoring manufacture of assemblages
- H05K13/081—Integration of optical monitoring devices in assembly lines; Processes using optical monitoring devices specially adapted for controlling devices or machines in assembly lines
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Abstract
An automatic chip mounter and an automatic chip mounting method comprise a material management device, a chip mounter and a chip mounter, wherein the material management device is used for stacking materials and forming a material list of a storage bin; the image acquisition device is used for acquiring images of the bare board photos of the printed board and transmitting the images to the control system; the auxiliary positioning device is used for providing accurate positioning information for the moving device, calculating the relative coordinate position of the central position of the bonding pad on the bare board picture of the printed board, converting the size information of the bare board picture to the size of the physical printed board in an equal proportion mode, and converting the coordinate of the central position of the bonding pad into the coordinate of the central position of the bonding pad on the physical printed board; the moving device picks up the materials from the material management device, transfers the materials to a position to be pasted and pastes; and a control system; the control system is respectively connected with the image acquisition device, the auxiliary positioning device and the movement device; the material management device, the auxiliary positioning device and the movement device are respectively connected with the image acquisition device. The invention has the advantages of high automation degree, high flexibility and high mounting efficiency.
Description
Technical Field
The invention belongs to the technical field of electronic manufacturing, and relates to an automatic chip mounter and an automatic chip mounting method.
Background
The chip mounter is one of the extremely critical devices of the surface mounting production line, not only because it occupies almost more than half of the investment of the whole production line, but also because it plays a decisive role in the product precision, production efficiency, actual yield and production capacity of the whole production line. The chip mounter is actually a precise industrial robot, and is a comprehensive body of machine-optical-electrical and computer control technologies. By the functions of suction, positioning, placement and the like, the chip electronic element is quickly and accurately mounted on the position of the pad appointed by the PCB without damaging the element and the printed circuit board.
The mature full-automatic chip mounter in the market at present has high mounting efficiency and high precision, and is suitable for an industrial batch production mode. However, due to the problems of long programming cycle, frequent wire replacement and the like, the patch mode is not suitable for military electronic products of multiple varieties and small batches. At present, small-batch military products are still operated in a manual mounting mode. The manual pasting can adapt to the situation of simultaneous operation of various different products on line with flexibility, but the efficiency is low, and the production efficiency of the products is seriously influenced. Therefore, in the field of military industry and electronics of various types and small batches, a mounting mode which can flexibly adapt to various types of products and can automatically produce and improve efficiency is lacked, so that the problems of inflexibility of a full-automatic chip mounter and low efficiency of manual chip mounting are solved.
Disclosure of Invention
In order to solve the technical problems in the background art, the invention provides an automatic chip mounter and an automatic chip mounting method which are high in automation degree and flexibility.
In order to achieve the purpose, the invention adopts the following technical scheme:
an automatic chip mounter is characterized in that: the automatic chip mounter includes:
the material management device is used for stacking materials and forming a material list of a storage bin;
the image acquisition device is used for carrying out image acquisition on the photo of the bare printed board in the material management device and transmitting the photo to the control system;
the auxiliary positioning device is used for providing accurate positioning information for the moving device, calculating the relative coordinate position of the central position of the bonding pad on a bare board photo of the printed board, converting the size information of the bare board picture acquired by the image acquisition device to the size of the physical printed board in an equal proportion, and converting the coordinate of the central position of the bonding pad into the coordinate of the central position of the bonding pad on the physical printed board;
the moving device picks up the materials from the material management device according to the accurate positioning information provided by the auxiliary positioning device, transfers the materials to a position to be pasted and pastes; and
a control system;
the control system is respectively connected with the image acquisition device, the auxiliary positioning device and the movement device;
the material management device, the auxiliary positioning device and the movement device are respectively connected with the image acquisition device.
The control system includes:
the loading part position number identification subsystem is used for identifying the position number identification of the bare board photo acquired by the image acquisition device, displaying the identified position number identification singly or in batches and carrying out local amplification or reduction on the bare board photo;
the loading part mounting position calculating subsystem calculates the geometric center of the selected bonding pad graph, determines the pixel coordinate of the geometric center on the full-page photo, stores the coordinate file, and can call the coordinate file when mounting is started for controlling the movement of the laser of the auxiliary positioning device;
the loading part and bin management subsystem is used for importing and managing a bin material list generated by the material management device and providing a material tray identification number for the bin material list; counting the number, specification type and variety number of the mounted components; displaying the current mounting progress and the number of the residual elements in real time; setting a mounting sequence; after the mounting is finished, generating a mounting confirmation list and outputting a printable file;
a control motion subsystem for identifying the tray, identifying the position of the component to be mounted and sucking the component; calling an element coordinate file and converting the element coordinate file into a real object coordinate position; sucking the element to a target point and mounting according to the real-time feedback of the image acquisition device;
the self-checking subsystem is used for performing self-checking on the loaded part after the surface mounting work is finished;
the loading part position number identification subsystem is connected with the image acquisition device; the loading part mounting position calculating subsystem is connected with the auxiliary positioning device; the control motion subsystem is connected with the motion device.
The motion device comprises a multi-axis freedom mechanical arm, a suction and release device and a pressure sensing device which are respectively connected with a control system; the end part of the mechanical arm with multi-axis freedom degree is provided with a sucking and releasing device; and a pressure sensing device is arranged on the mechanical arm with multi-axis freedom.
The motion device comprises a rectangular coordinate control part, a suction and release device and a pressure sensing device which are respectively connected with a control system; the end part of the rectangular coordinate control part is provided with a sucking and releasing device; and a pressure sensing device is arranged on the rectangular coordinate control component.
The auxiliary positioning device comprises an XY control platform and a positioning laser generator on the XY control platform; and the XY control platform and the positioning laser generator are respectively connected with a control system.
The image acquisition device is a camera.
The material management device comprises one or more bins, wherein bin marks are arranged on the bins, and the bins comprise one or more material trays for mounting bulk materials and feeders for mounting the belt materials.
A chip mounting method based on the automatic chip mounter is characterized in that: the pasting method comprises the following steps:
1) and (3) stock bin management: the material management device numbers materials in the storage bin, inputs the storage bin number and the element specification model corresponding to the storage bin number in a table form, forms a storage bin material list and transmits the storage bin material list to the control system.
2) Importing and processing mounting information;
3) finding and picking up the components to be mounted in the corresponding bins of the material management device through the moving device;
4) and mounting the component.
The specific implementation manner of the step 2) is as follows:
2.1) collecting and importing information such as printed boards, transferring parts and the like; importing a loading part list; the method comprises the following steps of (1) guiding and collecting an image of the printed board, and transmitting the image to a control system, wherein the control system can display full-looking clear photos of the front side and the back side of the printed board on a display screen; the system can identify the position number identification on the printed board photo and can highlight the position number.
2.2) confirmation of component pads: according to the information imported in the step 2.1), an operator confirms the positions of the bonding pads of the elements to be mounted one by one, and element position numbers and the bonding pads are formed in a control system in one-to-one correspondence, namely the positions of the bonding pads of the mounted elements are confirmed;
2.3) processing and calculating the mounting position: the control system calculates the geometric center of the bonding pad graph confirmed in the step 3) on the printed board image imported in the step 2.1), and simultaneously calculates the pixel coordinates of the geometric center on the whole printed board image, and generates a mounting coordinate file;
the specific implementation manner of the step 4) is as follows: when the components of the first specification model are mounted, the control system calls a pad coordinate file; controlling the motion of an XY control platform of the auxiliary positioning device according to the pad coordinate file, so that laser emitted by a laser generator on the auxiliary positioning device falls on a pad to be mounted; the moving device searches for the laser indication point by using machine vision and quickly carries out mounting until all the bit numbers in the pad file are mounted.
The method also comprises the following steps after the step 4):
5) after the mounting is finished, the self-checking process is carried out, and the specific implementation mode is as follows: after the mounting is finished, the control system enters a self-checking program; the control system displays the bare board photo on the display screen and displays the list of the loaded parts at the same time; selecting a first specification, and highlighting the bit number of the specification element on the display screen; manually checking whether the specification and the model of the material on the real object printed board are correct or not according to the prompt on the display screen; if the specification is correct, clicking to confirm, and entering the next specification type element; and if the error occurs, clicking the non-conforming item, and after all self-checks are completed, summarizing the bit numbers of the non-conforming items to generate a table so as to guide repair.
The invention has the advantages that:
the invention provides an automatic chip mounter and a chip mounting method, wherein the automatic chip mounter comprises a material management device for stacking materials and forming a material list of a storage bin, an image acquisition device for acquiring images of bare printed boards and transmitting the images to a control system, an auxiliary positioning device, a moving device and the control system, wherein the moving device is used for picking up the materials from the material management device according to accurate positioning information provided by the auxiliary positioning device, transferring the materials to a position to be mounted and mounting the materials; when the automatic chip mounter provided by the invention realizes the actions of picking up materials and mounting and dismounting the materials, the camera can identify the appointed character string (original specification type or position number) by utilizing the machine vision technology, the motion device is controlled to reach the position of the shot character string by the control system, namely the technology that the shot character string can be reached is realized by real-time and dynamic feedback control of the camera and the mechanical control system. All parts adopted by the invention cooperate with each other, so that the automation degree is high, the product adaptability and flexibility are high, and the chip mounting efficiency of various and small-batch electronic products is greatly improved.
Drawings
Fig. 1 is a schematic diagram of a frame of a robotic placement machine according to the present invention.
Detailed Description
Referring to fig. 1, the present invention provides an automatic chip mounter, including:
the material management device is used for stacking materials and forming a material list of a storage bin;
the image acquisition device is used for carrying out image acquisition on the photo of the bare printed board in the material management device and transmitting the photo to the control system;
the auxiliary positioning device is used for providing accurate positioning information for the moving device, calculating the relative coordinate position of the central position of the bonding pad on a bare board photo of the printed board, converting the size information of the bare board picture acquired by the image acquisition device to the size of the physical printed board in an equal proportion, and converting the coordinate of the central position of the bonding pad into the coordinate of the central position of the bonding pad on the physical printed board;
the moving device picks up the materials from the material management device according to the accurate positioning information provided by the auxiliary positioning device, transfers the materials to a position to be pasted and pastes; and
a control system;
the control system is respectively connected with the image acquisition device, the auxiliary positioning device and the movement device; the material management device, the auxiliary positioning device and the movement device are respectively connected with the image acquisition device.
Wherein: the control system includes:
the loading part position number identification subsystem is used for identifying the position number identification of the bare board photo acquired by the image acquisition device, displaying the identified position number identification singly or in batches and carrying out local amplification or reduction on the bare board photo;
the loading part mounting position calculating subsystem calculates the geometric center of the selected bonding pad graph, determines the pixel coordinate of the geometric center on the full-page photo, stores the coordinate file, and can call the coordinate file when mounting is started for controlling the movement of the laser of the auxiliary positioning device;
the loading part and bin management subsystem is used for importing and managing a bin material list generated by the material management device and providing a material tray identification number for the bin material list; counting the number, specification type and variety number of the mounted components; displaying the current mounting progress and the number of the residual elements in real time; setting a mounting sequence; after the mounting is finished, generating a mounting confirmation list and outputting a printable file;
a control motion subsystem for identifying the tray, identifying the position of the component to be mounted and sucking the component; calling an element coordinate file and converting the element coordinate file into a real object coordinate position; sucking the element to a target point and mounting according to the real-time feedback of the image acquisition device;
the self-checking subsystem is used for performing self-checking on the loaded part after the surface mounting work is finished;
the loading part position number identification subsystem is connected with the image acquisition device; the loading part mounting position calculation subsystem is connected with the auxiliary positioning device; the control motion subsystem is connected with the motion device.
The motion device comprises a multi-axis freedom mechanical arm, a suction and release device and a pressure sensing device which are respectively connected with the control system; the end part of the mechanical arm with multi-axis freedom degree is provided with a sucking and releasing device; a pressure sensing device is arranged on the mechanical arm with multi-axis freedom; or, the motion device provided by the invention comprises a rectangular coordinate control part, a suction and release device and a pressure sensing device which are respectively connected with a control system; the end part of the rectangular coordinate control part is provided with a sucking and releasing device; and a pressure sensing device is arranged on the rectangular coordinate control component.
The auxiliary positioning device adopted by the invention comprises an XY control platform and a positioning laser generator on the XY control platform; and the XY control platform and the positioning laser generator are respectively connected with a control system. The image acquisition device is a camera; the material management device comprises one or more bins, bin marks are arranged on the bins, and the bins comprise one or more material trays for mounting bulk materials and feeders for mounting belt materials.
The invention provides the automatic chip mounter and also provides a chip mounting method based on the chip mounter, wherein the chip mounting method comprises the following steps:
1) the material management device numbers materials in the storage bin, and inputs the storage bin number and the element specification model corresponding to the storage bin number in a table form to form a storage bin material list;
2) the method comprises the following steps of carrying out image acquisition on a bare printed board stored in a material management device through an image acquisition device, and identifying image information by a control system, wherein the image acquisition device specifically comprises the following steps: transmitting the collected bare printed board photo to a control system, analyzing the bare printed board photo by the control system, identifying a position number character in the bare printed board photo, and displaying the identified position number on a display screen in a highlighting manner; meanwhile, a loading part list is imported, and the control system classifies the loading part list according to the specification and model of the element; classifying all the bit numbers of the same specification and model into one class; according to the imported loading part list, selecting one of the components with the specification and the model, correspondingly highlighting the position number of the component on the display screen, clicking and confirming the bonding pad corresponding to the component on the screen by an operator, and confirming the position of the bonding pad. The system automatically calculates the geometric center of the bonding pad, and simultaneously calculates the pixel coordinates of the geometric center on the whole image to generate a bonding pad coordinate file.
3) Finding and picking up the component to be mounted in a bin of the material management device through the moving device;
4) mounting the element, specifically: when a component of a first specification model is mounted, the control system calls a pad coordinate file of the component; controlling the motion of an XY control platform of the auxiliary positioning device according to the pad coordinate file, so that laser emitted by a laser generator on the auxiliary positioning device falls on a pad to be mounted; the moving device searches for a laser indication point by using machine vision and quickly mounts the moving device at the laser point until all the bit numbers in the pad file are mounted;
5) after the mounting is finished, the self-checking process is carried out, and the specific implementation mode is as follows: after the mounting is finished, the control system enters a self-checking program; the control system displays the bare board photo on the display screen and displays the list of the loaded parts at the same time; selecting a first specification, and highlighting the bit number of the specification element on the display screen; manually checking whether the specification and the model of the material on the real object printed board are correct or not according to the prompt on the display screen; if the specification is correct, clicking to confirm, and entering the next specification type element; and if the error occurs, clicking the non-conforming item, and after all self-checks are completed, summarizing the bit numbers of the non-conforming items to generate a table so as to guide repair.
The automatic chip mounter is used for a chip mounting process before reflow soldering of an electronic product surface pasting technology. The chip mounter comprises five subsystems: the device comprises a material management device, an image acquisition device, a movement device, an auxiliary positioning device and a control system.
The working principle of the automatic chip mounter provided by the invention is as follows: when the machine is used for picking up materials and attaching and releasing the materials, the machine vision technology is utilized, the camera can identify the designated character string (original specification type or bit number), and the control system controls the moving device to reach the position of the shot character string, namely the visible and accessible technology. The method is realized by real-time and dynamic feedback control of a camera and a mechanical control system.
The specific working process of the invention is as follows:
1. the material picking process comprises the following steps:
firstly, numbering the material bins according to a certain rule (such as F01-F30), and simultaneously inputting the bin numbers and the corresponding element specification models (such as F01R 101) in a table form in a control system to form a bin material list. When the R101 component of the F01 magazine is to be mounted, the operator inputs R101, and the moving device automatically reaches the F01 magazine. At this moment, the materials in the storage bin can be placed regularly according to the small lattices and also can be placed irregularly. The image acquisition device acquires images in an area F01, the control system analyzes and identifies, and the moving device automatically finds one of the elements to be mounted for picking up by using a machine vision technology.
2. Mounting:
2.1, before the materials are picked up, the system firstly collects images of the bare printed board photos and transmits the images to an analysis control system. The analysis control system analyzes the image, identifies the digit characters in the image, and can highlight the identified digit representations on the display screen. Meanwhile, a loading part list is imported, and the control system classifies the loading part list according to the specification and model of the component. All the bit numbers of the same specification and model are classified into one class. The operator selects one of the specification models (e.g., selects R101), and the system will highlight all of the R101 bit numbers (e.g., R1-R10) on the display screen. And finding the bonding pad with the high-brightness position number according to the high-brightness position number on the display screen of the operator (displaying the bare board photo and the high-brightness position number), pointing the bonding pad in the mouse until all the bonding pads indicated by the high-brightness position number are selected, and storing the bonding pads as R101 bonding pads. The control system calculates the geometric center of the corresponding bonding pad, and simultaneously calculates the pixel coordinate of the geometric center on the whole image, and a coordinate file forming the bonding pad is stored.
2.2, begin the patch. The system automatically finishes the paster according to a certain sequence.
The auxiliary positioning device is explained first. The auxiliary positioning device is used for helping the moving device to find the correct bonding pad. The XY control platform is controlled by a control system and is positioned right above a printed board to be pasted, and a small positioning laser generator is matched on the control platform. When a component of a first specification model is started to be mounted, the system calls a pad coordinate file of the component of the specification. And controlling the motion of the XY control platform of the auxiliary positioning device according to the pad coordinate file, so that the laser emitted by the laser generator falls on the pad to be mounted. And then the moving device searches for a laser indicating point by using machine vision, and quickly arrives at the laser point for mounting until all the bit numbers in the pad file are mounted, and then mounting of the next specification type element is carried out.
3. Self-checking process:
and after the mounting is finished, the system enters a self-checking program. The system displays the bare board photo on the display screen and simultaneously displays the list of the loaded components (classified and sorted according to the specification and model of the components). The operator selects the first specification and highlights the bit number of the specification component on the display screen. And the operator manually checks whether the specification and the model of the material on the real object printed board are correct or not according to the prompt on the display screen. If the specification is correct, clicking to confirm, and entering the next specification type element; and if the error occurs, clicking the non-conforming item, and after all self-checks are completed, summarizing the bit numbers of the non-conforming items to generate a table so as to guide an operator to repair. The system can display the self-checking progress bar and can display the residual self-checking quantity. The system generates a self-checking confirmation list after self-checking is completed, and all the mounting work is completed at the moment.
The functional parts are introduced:
1. the composition and function of the material management device include:
1) a certain number of trays for mounting bulk materials and a feeder for mounting braid materials. The material trays or the feeders are intensively arranged in the material management area and used for storing the components to be mounted;
2) identification of the bin. The mark is generally a combination of letters and numbers, the size of the mark font is proper, the font is clear, and the bin mark can be recognized by the image acquisition device;
3) the storage bin is dynamically managed. For example, the lot management area can store only 20 trays or feeders (F01-F20) at the maximum, and the types of components to be mounted are 100. At this moment, the first 20 material trays are placed firstly, after the material in one material tray is mounted, under the condition that the mounting process is not stopped, a worker manually takes off the mounted material tray and puts on a new material tray (such as F21 material tray), and the replacement process does not influence the normal mounting work. Thus, dynamic management is realized. The replacement sequence should be consistent with the mounting sequence of the control system. After a new material bin is put on, the camera collects and identifies the serial number of the material tray, and the machine vision is utilized to know that the moving device moves to pick up materials in the material tray.
2. The image acquisition device comprises the following components and functions:
1) the camera is used for collecting the bare board photo and transmitting the bare board photo to the control system for processing;
2) the camera, the control system and the moving device cooperate together to complete the machine vision function. Taking material management as an example: the camera scans the whole storage bin to identify the serial number of a material tray to be mounted (such as F21), the camera is aligned with the identification number of F21, and the serial number reaches the identification number of F21 through a control motion subsystem of the control system; and scanning the image in the F21 tray again, identifying the appearance of the component to be mounted, and controlling the motion subsystem to pick one of the components through the control system until the picking is finished.
3. The sports device comprises the following components and functions:
1) the mechanical arm or the rectangular coordinate control component with multi-axis freedom can move within a certain three-dimensional size range;
2) the movable head is provided with a sucking and releasing device for picking and pasting the element to be pasted;
3) the head is provided with a pressure sensing device for detecting the pressure value of the head to the element during picking or mounting;
and the moving device, the image acquisition device and the control system cooperate together to complete the machine vision function. And what is known as the function achieved. The movement device is controlled by the control system and continuously approaches the target point until the target position is reached; the moving device can approach the element to be mounted or the position to be mounted gradually through pressure sensing feedback or a micro-distance radar ranging technology under the condition of being very close to a target object until the pressure and the distance meet the requirements, and then the element to be mounted or the position to be mounted is sucked or released; the moving device combined with the image acquisition device and the control system can meet the mounting precision requirement of the 01005 packaging component in the aspects of target searching and movement precision control.
4. The auxiliary positioning device comprises the following components and functions:
the device is positioned right above a printed board to be pasted and consists of a plane XY control platform and a small laser; the laser can move within a certain plane range through the XY control platform; the movement of the laser is controlled by a control system, and the control system calculates the relative coordinate position of the center position of the bonding pad on the bare board photo of the printed board according to the component bonding pad file. And then, converting the size information of the bare chip picture to the size of the real printed board in an equal proportion, and converting the coordinates of the central position of the bonding pad into the coordinates of the central position of the bonding pad on the real printed board. And according to the coordinate value, the system controls the laser to move to the coordinate position, starts the light source and carries out laser indication on the pad to be mounted on the printed board. The laser indication is used for guiding the moving device to control the moving device to move to the surface mounting component through the image acquisition device. When a pressure sensor of the motion control system senses mounting pressure, the motion device transmits a pressure signal to the control system, and the control system controls the laser to move to the next position to prepare for indicating mounting.
5. The control system in turn comprises five subsystems: the system comprises a loading part position number identification subsystem, a loading part mounting position calculation subsystem, a loading part and bin management subsystem, a motion control subsystem and a self-checking and checking subsystem, wherein:
1) the composition and the function of the loading part position number identification subsystem comprise: after the image acquisition device acquires the bare board photo, the bare board photo is transmitted to the control system, and the control system can display the full-looking clear photo on the front side and the back side of the printed board on the display screen; the loading part position number identification subsystem can identify the position number representation on the bare board photo and can display the identified position number identification on a display screen independently or in batches; the picture on the display screen can be locally enlarged or reduced.
2) The components and functions of the loading part mounting position calculation subsystem comprise: an operator selects an element with a certain specification and model in the loading part list, the position number of the element with the specification and model is highlighted in batch on the display screen, the loading part mounting position calculation subsystem has a function of searching a bonding pad, the operator judges and searches a bonding pad graph corresponding to the position number manually through the position number of the highlight image and a clear bare board picture displayed on the display screen, and the bonding pad graph is selected on the corresponding bonding pad by using a mouse; the loader placement position calculation subsystem can calculate the geometric center of the selected bonding pad (such as the bonding pads of R1-R10) by itself and can calculate the pixel coordinates of the geometric centers of the geometric R1-R10 on the whole photo; the loader mounting position calculation subsystem can store the coordinate file and can call the coordinate file when mounting is started, so as to control the movement of the laser of the auxiliary positioning device.
3) The loading and bin management subsystem comprises: importing a loading part list, and managing the loading part list, such as classifying and displaying the list according to the specification and model of the component; a supplementary bin mark is added behind the specification and model, and when the system is used for mounting according to a certain sequence, a tray mark number of a certain specification and model of element can be provided for the moving device; the quantity of the mounted components and the quantity of the specification type types can be counted, and the current mounting progress and the quantity of the residual components can be displayed in real time; after the moving device finishes the mounting action, the moving device feeds back to the control system, the loading management system can automatically confirm the loaded component, the loaded component shows a loaded mark, and the unloaded component shows an unloaded mark; the system can set a plurality of mounting sequences, such as mounting according to the position number one by one, or mounting according to a certain specification type, or mounting according to the sequence of the position number letters (or specification type letters), or mounting according to the reverse sequence of the position number letters (or specification type letters), or mounting according to the sequence of the material tray numbers; when the mounting of the loading piece is completed, the system can automatically generate a loading piece confirmation list and output the loading piece confirmation list into a printable file format.
4) Controlling the motion subsystem: according to the number of a material tray of a component with a specification to be mounted, the photo acquisition system scans the stock bin, identifies the number of the material tray to be found, and controls the motion subsystem to be continuously close to the position of a target material tray according to the real-time feedback of the vision system; after the position of the target material tray is approached, the image acquisition device scans the range in the material tray again, identifies the position of a component to be mounted, and the system automatically selects one component and controls the motion subsystem to approach the upper part of the component. In the process of continuous approaching, the control system receives a signal from the pressure sensor or the distance measuring sensor, when the pressure or the distance meets a certain index, the control system controls the motion subsystem to stop moving, and the control system can control the suction device of the motion head to be opened and suck the element; the control system can call the stored component coordinate file, convert the coordinate file into a physical coordinate position, control the laser of the auxiliary positioning device to move to an appointed coordinate position, and then control the laser to be opened to indicate a bonding pad to be mounted; the control system can control the suction element of the motion subsystem to gradually approach the laser indication point until reaching the target point according to the real-time feedback of the image acquisition device. The control system can complete one-time mounting action according to the information fed back by the pressure sensor or the distance measuring sensor of the moving head.
5) The self-checking subsystem: the subsystem has the function of self-checking and checking the loaded part after finishing the mounting work; the system displays a loading part list, an operator selects a certain specification element, and the position number and the welding disc of the element are highlighted on the display screen; and the operator manually checks whether the specification and the model of the material on the real object printed board are correct or not according to the lifting on the display screen. If the specification is correct, clicking to confirm, and entering the next specification type element; and if the error occurs, clicking the non-conforming item, and after all self-checks are completed, summarizing the bit numbers of the non-conforming items to generate a table so as to guide an operator to repair. The system can display a self-checking progress bar and can display the residual self-checking quantity; the system can generate a self-checking confirmation list after the self-checking is finished, and output the self-checking confirmation list into a printable file format.
Claims (10)
1. An automatic chip mounter is characterized in that: the automatic chip mounter includes:
the material management device is used for stacking materials and forming a material list of a storage bin;
the image acquisition device is used for carrying out image acquisition on the photo of the bare printed board in the material management device and transmitting the photo to the control system;
the auxiliary positioning device is used for providing accurate positioning information for the moving device, calculating the relative coordinate position of the central position of the bonding pad on a bare board photo of the printed board, converting the size information of the bare board picture acquired by the image acquisition device to the size of the physical printed board in an equal proportion, and converting the coordinate of the central position of the bonding pad into the coordinate of the central position of the bonding pad on the physical printed board;
the moving device picks up the materials from the material management device according to the accurate positioning information provided by the auxiliary positioning device, transfers the materials to a position to be pasted and pastes; and
a control system;
the control system is respectively connected with the image acquisition device, the auxiliary positioning device and the movement device;
the material management device, the auxiliary positioning device and the movement device are respectively connected with the image acquisition device.
2. The automatic placement machine according to claim 1, wherein: the control system includes:
the loading part position number identification subsystem is used for identifying the position number identification of the bare board photo acquired by the image acquisition device, displaying the identified position number identification singly or in batches and carrying out local amplification or reduction on the bare board photo;
the loading part mounting position calculating subsystem calculates the geometric center of the selected bonding pad graph, determines the pixel coordinate of the geometric center on the full-page photo, stores the coordinate file, and can call the coordinate file when mounting is started for controlling the movement of the laser of the auxiliary positioning device;
the loading part and bin management subsystem is used for importing and managing a bin material list generated by the material management device and providing a material tray identification number for the bin material list; counting the number, specification type and variety number of the mounted components; displaying the current mounting progress and the number of the residual elements in real time; setting a mounting sequence; when the mounting is finished, generating a mounting confirmation list and outputting a printing file;
a control motion subsystem for identifying the tray, identifying the position of the component to be mounted and sucking the component; calling an element coordinate file and converting the element coordinate file into a real object coordinate position; sucking the element to a target point and mounting according to the real-time feedback of the image acquisition device;
the self-checking subsystem is used for performing self-checking on the loaded part after the surface mounting work is finished;
the loading part position number identification subsystem is connected with the image acquisition device; the loading part mounting position calculating subsystem is connected with the auxiliary positioning device; the control motion subsystem is connected with the motion device.
3. The automatic placement machine according to claim 2, wherein: the motion device comprises a multi-axis freedom mechanical arm, a suction and release device and a pressure sensing device which are respectively connected with the control system; the end part of the mechanical arm with multi-axis freedom degree is provided with a sucking and releasing device; and a pressure sensing device is arranged on the mechanical arm with multi-axis freedom.
4. The automatic placement machine according to claim 2, wherein: the motion device comprises a rectangular coordinate control part, a suction and release device and a pressure sensing device which are respectively connected with the control system; the end part of the rectangular coordinate control part is provided with a sucking and releasing device; and a pressure sensing device is arranged on the rectangular coordinate control component.
5. The automatic placement machine according to claim 1, 2, 3 or 4, wherein: the auxiliary positioning device comprises an XY control platform and a positioning laser generator on the XY control platform; and the XY control platform and the positioning laser generator are respectively connected with a control system.
6. The automatic placement machine according to claim 5, wherein: the image acquisition device is a camera.
7. The automatic placement machine according to claim 6, wherein: the material management device comprises one or more bins, bin marks are arranged on the bins, and the bins comprise one or more material trays for mounting bulk materials and feeders for mounting belt materials.
8. A die bonding method based on the automatic die bonder of claim 7, wherein: the pasting method comprises the following steps:
1) and (3) stock bin management: the material management device numbers materials in the storage bin, inputs the storage bin number and the element specification model corresponding to the storage bin number in a table form to form a storage bin material list and transmits the storage bin material list to the control system;
2) importing and processing mounting information:
3) finding and picking up the components to be mounted in the corresponding bins of the material management device through the moving device;
4) and mounting the component.
9. A method of attaching patches according to claim 8, wherein: the specific implementation manner of the step 2) is as follows:
2.1) collecting and importing detailed information of a printed board and a transferring part; importing a loading part list; the method comprises the following steps of (1) guiding and collecting an image of the printed board, and transmitting the image to a control system, wherein the control system can display full-looking clear photos of the front side and the back side of the printed board on a display screen; the system can identify the position number identification on the printed board photo and highlight the position number;
2.2) confirmation of component pads: according to the information imported in the step 2.1), an operator confirms the positions of the bonding pads of the elements to be mounted one by one, and element position numbers and the bonding pads are formed in a control system in one-to-one correspondence, namely the positions of the bonding pads of the mounted elements are confirmed;
2.3) processing and calculating the mounting position: the control system calculates the geometric center of the bonding pad graph confirmed in the step 3) on the printed board image imported in the step 2.1), and simultaneously calculates the pixel coordinates of the geometric center on the whole printed board image, and generates a bonding pad coordinate file;
the specific implementation manner of the step 4) is as follows: when a component of a first specification model is mounted, the control system calls a pad coordinate file of the component; controlling the motion of an XY control platform of the auxiliary positioning device according to the pad coordinate file, so that laser emitted by a laser generator on the auxiliary positioning device falls on a pad to be mounted; the moving device searches for the laser indication point by using machine vision and quickly carries out mounting until all the bit numbers in the pad file are mounted.
10. A patch method according to claim 8 or 9, wherein: the step 4) is followed by:
5) after the mounting is finished, the self-checking process is carried out, and the specific implementation mode is as follows: after the mounting is finished, the control system enters a self-checking program; the control system displays the bare board photo on the display screen and displays the list of the loaded parts at the same time; selecting a first specification, and highlighting the bit number of the specification element on the display screen; manually checking whether the specification and the model of the material on the real object printed board are correct or not according to the prompt on the display screen; if the specification is correct, clicking to confirm, and entering the next specification type element; and if the error occurs, clicking the non-conforming item, and after all self-checks are completed, summarizing the bit numbers of the non-conforming items to generate a table so as to guide repair.
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| CN109561651B (en) * | 2018-12-30 | 2020-09-08 | 深圳捷创电子科技有限公司 | SMT patch element position control method and system |
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